.. _program_listing_file_include_rmf_websocket_BroadcastClient.hpp:

Program Listing for File BroadcastClient.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmf_websocket_BroadcastClient.hpp>` (``include/rmf_websocket/BroadcastClient.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (C) 2022 Open Source Robotics Foundation
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    *
   */
   
   #ifndef RMF_WEBSOCKET__BROADCAST_CLIENT_HPP
   #define RMF_WEBSOCKET__BROADCAST_CLIENT_HPP
   
   #include <nlohmann/json.hpp>
   
   #include <rclcpp/node.hpp>
   #include <rmf_utils/impl_ptr.hpp>
   
   #include <memory>
   
   namespace rmf_websocket {
   //==============================================================================
   // A wrapper around a websocket client for broadcasting states and logs for
   // fleets, robots and tasks. A queue of json msgs is maintained and published
   // in an internal thread whenever connection to a server is established.
   class BroadcastClient : public std::enable_shared_from_this<BroadcastClient>
   {
   public:
     using ProvideJsonUpdates = std::function<std::vector<nlohmann::json>()>;
   
     static std::shared_ptr<BroadcastClient> make(
       const std::string& uri,
       const std::shared_ptr<rclcpp::Node>& node,
       ProvideJsonUpdates on_open_connection_fn = nullptr);
   
     // Publish a single message
     void publish(const nlohmann::json& msg);
   
     // Publish a vector of messages
     void publish(const std::vector<nlohmann::json>& msgs);
   
     void set_queue_limit(std::optional<std::size_t> limit);
   
     class Implementation;
   
   private:
     BroadcastClient();
     rmf_utils::unique_impl_ptr<Implementation> _pimpl;
   };
   
   } // namespace rmf_websocket
   
   #endif // RMF_WEBSOCKET__BROADCAST_CLIENT_HPP